ECE 4180 Drawing Robot / Mbed 2 deprecated ECE_4180_Drawing_Robot

Basic motor code

Dependencies:   Motordriver mbed HALLFX_ENCODER Servo

main.cpp@9:aa739588a86b, 2018-05-01 (annotated)

Committer:
amohile3
Date:
Tue May 01 15:25:31 2018 +0000
Revision:
9:aa739588a86b
Parent:
8:e90d9ce42b33
Child:
10:9066603296bd
Child:
11:913a68b39fe0
Added makeHexagon() method and put relevant code in makeSquare() and makeTriange()

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amohile3 0:191d0be60c80 1 #include "mbed.h"
amohile3 0:191d0be60c80 2 #include "motordriver.h"
jsterling30 2:8c27831ce9a2 3 #include "HALLFX_ENCODER.h"
jsterling30 7:6ef9b0aab972 4 #include "Servo.h"
jsterling30 8:e90d9ce42b33 5 #include "letters.h"
jsterling30 2:8c27831ce9a2 6
jsterling30 8:e90d9ce42b33 7 #include <math.h>
jsterling30 7:6ef9b0aab972 8 #include <string.h>
jsterling30 6:235548599e79 9
jsterling30 8:e90d9ce42b33 10 #define SPEED 0.32
jsterling30 3:c4b0460d8886 11 #define TICKSPERREV 390
jsterling30 7:6ef9b0aab972 12 #define DISTPERREV 8.25 // 8.25 inches per revolution
jsterling30 8:e90d9ce42b33 13 #define TicksPerDeg 2.73
jsterling30 8:e90d9ce42b33 14
jsterling30 8:e90d9ce42b33 15 #define PI 3.14159265
jsterling30 8:e90d9ce42b33 16 #define abs(X) ((X < 0) ? -1 * X : X)
amohile3 0:191d0be60c80 17
jsterling30 7:6ef9b0aab972 18 Motor right(p23, p6, p5, 1); // pwm, fwd, rev
jsterling30 7:6ef9b0aab972 19 Motor left(p21, p7, p8, 1); // pwm, fwd, rev
amohile3 0:191d0be60c80 20
jsterling30 2:8c27831ce9a2 21 HALLFX_ENCODER leftEnc(p15);
jsterling30 2:8c27831ce9a2 22 HALLFX_ENCODER rightEnc(p16);
jsterling30 2:8c27831ce9a2 23
jsterling30 7:6ef9b0aab972 24 Serial blue(p13,p14);
jsterling30 7:6ef9b0aab972 25 Serial pc(USBTX, USBRX);
amohile3 5:7572f73a78f3 26 DigitalOut led1(LED1);
amohile3 5:7572f73a78f3 27 DigitalOut led4(LED4);
amohile3 5:7572f73a78f3 28
jsterling30 7:6ef9b0aab972 29 Servo pen(p24);
jsterling30 6:235548599e79 30
jsterling30 8:e90d9ce42b33 31 double penUpValue = 0.8;
jsterling30 8:e90d9ce42b33 32 double penDownValue = 1.0;
jsterling30 8:e90d9ce42b33 33
jsterling30 8:e90d9ce42b33 34 void penUp() {
jsterling30 8:e90d9ce42b33 35 pen = penUpValue;
jsterling30 8:e90d9ce42b33 36 wait(0.5);
jsterling30 8:e90d9ce42b33 37 }
jsterling30 8:e90d9ce42b33 38
jsterling30 8:e90d9ce42b33 39 void penDown() {
jsterling30 8:e90d9ce42b33 40 pen = penDownValue;
jsterling30 8:e90d9ce42b33 41 wait(0.5);
jsterling30 8:e90d9ce42b33 42 }
jsterling30 8:e90d9ce42b33 43
jsterling30 2:8c27831ce9a2 44 void stop() {
jsterling30 2:8c27831ce9a2 45 right.speed(0.0);
jsterling30 2:8c27831ce9a2 46 left.speed(0.0);
jsterling30 2:8c27831ce9a2 47 }
jsterling30 2:8c27831ce9a2 48
jsterling30 8:e90d9ce42b33 49 void forward(double distance) {
jsterling30 8:e90d9ce42b33 50 double numRevs = distance / DISTPERREV;
jsterling30 8:e90d9ce42b33 51 double numTicks = numRevs * TICKSPERREV;
jsterling30 2:8c27831ce9a2 52 leftEnc.reset();
jsterling30 2:8c27831ce9a2 53 rightEnc.reset();
jsterling30 2:8c27831ce9a2 54 right.speed(SPEED);
jsterling30 2:8c27831ce9a2 55 left.speed(SPEED);
jsterling30 3:c4b0460d8886 56 while (leftEnc.read() < numTicks && rightEnc.read() < numTicks) {}
jsterling30 3:c4b0460d8886 57 stop();
jsterling30 8:e90d9ce42b33 58 wait(0.5);
jsterling30 3:c4b0460d8886 59 }
jsterling30 3:c4b0460d8886 60
jsterling30 8:e90d9ce42b33 61 void reverse(double distance) {
jsterling30 8:e90d9ce42b33 62 double numRevs = distance / DISTPERREV;
jsterling30 8:e90d9ce42b33 63 double numTicks = numRevs * TICKSPERREV;
jsterling30 8:e90d9ce42b33 64 leftEnc.reset();
jsterling30 8:e90d9ce42b33 65 rightEnc.reset();
jsterling30 8:e90d9ce42b33 66 right.speed(-SPEED);
jsterling30 8:e90d9ce42b33 67 left.speed(-SPEED);
jsterling30 8:e90d9ce42b33 68 while (leftEnc.read() < numTicks && rightEnc.read() < numTicks) {}
jsterling30 8:e90d9ce42b33 69 stop();
jsterling30 8:e90d9ce42b33 70 wait(0.5);
jsterling30 8:e90d9ce42b33 71 }
jsterling30 8:e90d9ce42b33 72
jsterling30 8:e90d9ce42b33 73 void turnLeft(double degrees) {
jsterling30 3:c4b0460d8886 74 leftEnc.reset();
jsterling30 3:c4b0460d8886 75 rightEnc.reset();
jsterling30 3:c4b0460d8886 76 right.speed(SPEED);
jsterling30 3:c4b0460d8886 77 left.speed(-SPEED);
jsterling30 8:e90d9ce42b33 78 double numTicks = degrees * TicksPerDeg;
jsterling30 8:e90d9ce42b33 79 while (leftEnc.read() < numTicks || rightEnc.read() < numTicks) {
jsterling30 8:e90d9ce42b33 80 if (leftEnc.read() >= numTicks) {
jsterling30 8:e90d9ce42b33 81 left.speed(0.0);
jsterling30 8:e90d9ce42b33 82 }
jsterling30 8:e90d9ce42b33 83 if (rightEnc.read() >= numTicks) {
jsterling30 8:e90d9ce42b33 84 right.speed(0.0);
jsterling30 8:e90d9ce42b33 85 }
jsterling30 8:e90d9ce42b33 86 }
jsterling30 2:8c27831ce9a2 87 stop();
jsterling30 8:e90d9ce42b33 88 blue.printf("Left Turn\n Left Encoder: %d\n Right Encoder: %d\n\n", leftEnc.read(), rightEnc.read());
jsterling30 8:e90d9ce42b33 89 wait(0.5);
jsterling30 3:c4b0460d8886 90 }
jsterling30 3:c4b0460d8886 91
jsterling30 8:e90d9ce42b33 92 void turnRight(double degrees) {
amohile3 4:a21d15629407 93 leftEnc.reset();
amohile3 4:a21d15629407 94 rightEnc.reset();
amohile3 4:a21d15629407 95 right.speed(-SPEED);
amohile3 4:a21d15629407 96 left.speed(SPEED);
jsterling30 8:e90d9ce42b33 97 double numTicks = degrees * TicksPerDeg;
amohile3 4:a21d15629407 98 while (leftEnc.read() < numTicks && rightEnc.read() < numTicks) {}
amohile3 4:a21d15629407 99 stop();
jsterling30 8:e90d9ce42b33 100 blue.printf("Right Turn\n Left Encoder: %d\n Right Encoder: %d\n\n", leftEnc.read(), rightEnc.read());
jsterling30 8:e90d9ce42b33 101 wait(0.5);
jsterling30 8:e90d9ce42b33 102 }
jsterling30 8:e90d9ce42b33 103
jsterling30 8:e90d9ce42b33 104 void turn(double delta) {
jsterling30 8:e90d9ce42b33 105 penUp();
jsterling30 8:e90d9ce42b33 106 forward(1.75);
jsterling30 8:e90d9ce42b33 107 if (delta > 0) {
jsterling30 8:e90d9ce42b33 108 turnLeft(delta);
jsterling30 8:e90d9ce42b33 109 } else {
jsterling30 8:e90d9ce42b33 110 turnRight(-delta);
jsterling30 8:e90d9ce42b33 111 }
jsterling30 8:e90d9ce42b33 112 reverse(1.75);
jsterling30 8:e90d9ce42b33 113 penDown();
amohile3 4:a21d15629407 114 }
amohile3 4:a21d15629407 115
amohile3 4:a21d15629407 116 void makeCircle() {
amohile3 4:a21d15629407 117 leftEnc.reset();
amohile3 4:a21d15629407 118 rightEnc.reset();
amohile3 4:a21d15629407 119 right.speed(SPEED);
jsterling30 8:e90d9ce42b33 120 float numTicks = 2 * 360 * TicksPerDeg;
amohile3 5:7572f73a78f3 121 while (rightEnc.read() < numTicks) {}
amohile3 4:a21d15629407 122 stop();
amohile3 4:a21d15629407 123 wait(0.1);
amohile3 4:a21d15629407 124 }
amohile3 4:a21d15629407 125
amohile3 9:aa739588a86b 126 void makeSquare(int sideLength) {
amohile3 9:aa739588a86b 127 forward(sideLength);
amohile3 9:aa739588a86b 128 turn(90);
amohile3 9:aa739588a86b 129 forward(sideLength);
amohile3 9:aa739588a86b 130 turn(90);
amohile3 9:aa739588a86b 131 forward(sideLength);
amohile3 9:aa739588a86b 132 turn(90);
amohile3 9:aa739588a86b 133 forward(sideLength);
amohile3 9:aa739588a86b 134 turn(90);
amohile3 9:aa739588a86b 135 }
amohile3 9:aa739588a86b 136
amohile3 9:aa739588a86b 137 void makeTriangle(int sideLength) {
amohile3 9:aa739588a86b 138 forward(sideLength);
amohile3 9:aa739588a86b 139 turn(120);
amohile3 9:aa739588a86b 140 forward(sideLength);
amohile3 9:aa739588a86b 141 turn(120);
amohile3 9:aa739588a86b 142 forward(sideLength);
amohile3 9:aa739588a86b 143 turn(120);
amohile3 9:aa739588a86b 144 }
amohile3 9:aa739588a86b 145
amohile3 9:aa739588a86b 146 void makeHexagon(int sideLength) {
amohile3 9:aa739588a86b 147 forward(sideLength);
amohile3 9:aa739588a86b 148 turn(60);
amohile3 9:aa739588a86b 149 forward(sideLength);
amohile3 9:aa739588a86b 150 turn(60);
amohile3 9:aa739588a86b 151 forward(sideLength);
amohile3 9:aa739588a86b 152 turn(60);
amohile3 9:aa739588a86b 153 forward(sideLength);
amohile3 9:aa739588a86b 154 turn(60);
amohile3 9:aa739588a86b 155 forward(sideLength);
amohile3 9:aa739588a86b 156 turn(60);
amohile3 9:aa739588a86b 157 forward(sideLength);
amohile3 9:aa739588a86b 158 turn(60);
amohile3 9:aa739588a86b 159 }
amohile3 9:aa739588a86b 160
jsterling30 3:c4b0460d8886 161 void manualCheck() {
jsterling30 3:c4b0460d8886 162 leftEnc.reset();
jsterling30 3:c4b0460d8886 163 rightEnc.reset();
jsterling30 3:c4b0460d8886 164 while (1) {
jsterling30 3:c4b0460d8886 165 printf("Left Ticks: %d\r\n", leftEnc.read());
jsterling30 3:c4b0460d8886 166 printf("Right Ticks: %d\r\n\r\n", rightEnc.read());
jsterling30 3:c4b0460d8886 167 wait(0.5);
jsterling30 3:c4b0460d8886 168 }
jsterling30 2:8c27831ce9a2 169 }
amohile3 0:191d0be60c80 170
jsterling30 7:6ef9b0aab972 171 // command character array for bluetooth parsing
jsterling30 7:6ef9b0aab972 172 char command[100];
jsterling30 7:6ef9b0aab972 173
jsterling30 7:6ef9b0aab972 174 void blue_interrupt() {
jsterling30 7:6ef9b0aab972 175 // bluetooth receiver interrupt
jsterling30 7:6ef9b0aab972 176 char letter = (char) blue.getc();
jsterling30 7:6ef9b0aab972 177 command[strlen(command)] = letter;
jsterling30 7:6ef9b0aab972 178 }
jsterling30 7:6ef9b0aab972 179
jsterling30 7:6ef9b0aab972 180 void get_command() {
jsterling30 7:6ef9b0aab972 181 memset(command, '\0', sizeof(command)); // resetting command buffer
jsterling30 7:6ef9b0aab972 182 while (!strlen(command)) { // waiting for full command to be read
jsterling30 7:6ef9b0aab972 183 led4 = !led4;
jsterling30 7:6ef9b0aab972 184 wait(1);
jsterling30 7:6ef9b0aab972 185 }
jsterling30 7:6ef9b0aab972 186 }
jsterling30 7:6ef9b0aab972 187
jsterling30 8:e90d9ce42b33 188 void drawLetter(Letter letter) {
jsterling30 8:e90d9ce42b33 189 double currAngle = 0;
jsterling30 8:e90d9ce42b33 190 for (int i = 1; i < sizeof(letter.points); i++) {
jsterling30 8:e90d9ce42b33 191 Transition prev = letter.points[i - 1];
jsterling30 8:e90d9ce42b33 192 Transition next = letter.points[i];
jsterling30 8:e90d9ce42b33 193 double desAngle = atan2(next.y - prev.y, next.x - prev.x) * 180 / PI;
jsterling30 8:e90d9ce42b33 194 double theta = desAngle - currAngle;
jsterling30 8:e90d9ce42b33 195 if (theta > 0) {
jsterling30 8:e90d9ce42b33 196 turnLeft(theta);
jsterling30 8:e90d9ce42b33 197 } else {
jsterling30 8:e90d9ce42b33 198 turnRight(-theta);
jsterling30 8:e90d9ce42b33 199 }
jsterling30 8:e90d9ce42b33 200 currAngle = desAngle;
jsterling30 8:e90d9ce42b33 201 double distance = sqrt(pow(next.y - prev.y, 2) + pow(next.x - prev.x, 2));
jsterling30 8:e90d9ce42b33 202 forward(distance);
jsterling30 8:e90d9ce42b33 203 }
jsterling30 8:e90d9ce42b33 204 }
jsterling30 8:e90d9ce42b33 205
amohile3 0:191d0be60c80 206 int main() {
jsterling30 7:6ef9b0aab972 207
jsterling30 8:e90d9ce42b33 208 penDown();
amohile3 9:aa739588a86b 209 makeHexagon(3);
jsterling30 8:e90d9ce42b33 210 //makeCircle();
amohile3 9:aa739588a86b 211 // makeTriangle();
jsterling30 8:e90d9ce42b33 212 //forward(5.0);
jsterling30 8:e90d9ce42b33 213 //turn(90);
jsterling30 8:e90d9ce42b33 214
jsterling30 8:e90d9ce42b33 215 //drawLetter(let_a);
jsterling30 8:e90d9ce42b33 216 /*
jsterling30 7:6ef9b0aab972 217 blue.baud(9600);
jsterling30 7:6ef9b0aab972 218 blue.attach(&blue_interrupt);
jsterling30 7:6ef9b0aab972 219
jsterling30 7:6ef9b0aab972 220 while (1) {
jsterling30 7:6ef9b0aab972 221 get_command();
jsterling30 7:6ef9b0aab972 222 blue.printf("%s, len = %d\n", command, strlen(command));
jsterling30 7:6ef9b0aab972 223
jsterling30 7:6ef9b0aab972 224 const char *delimiter = " "; // space character to separate arguments
jsterling30 7:6ef9b0aab972 225 char *arg1;
jsterling30 7:6ef9b0aab972 226 char *arg2;
jsterling30 7:6ef9b0aab972 227
jsterling30 7:6ef9b0aab972 228 arg1 = strtok(command, delimiter);
jsterling30 7:6ef9b0aab972 229 arg2 = strtok(NULL, delimiter);
jsterling30 7:6ef9b0aab972 230
jsterling30 7:6ef9b0aab972 231 if (strcmp(arg1, "draw") == 0) {
jsterling30 7:6ef9b0aab972 232 // first argument is draw
jsterling30 7:6ef9b0aab972 233 blue.printf(" First argument is draw\n");
jsterling30 7:6ef9b0aab972 234
jsterling30 7:6ef9b0aab972 235 if (strcmp(arg2, "square") == 0) {
jsterling30 7:6ef9b0aab972 236 // second argument is square
jsterling30 7:6ef9b0aab972 237 blue.printf(" Second argument is square\n");
jsterling30 7:6ef9b0aab972 238 } else if (strcmp(arg2, "circle") == 0) {
jsterling30 7:6ef9b0aab972 239 // second argument is circle
jsterling30 7:6ef9b0aab972 240 blue.printf(" Second argument is circle\n");
jsterling30 7:6ef9b0aab972 241 } else {
jsterling30 7:6ef9b0aab972 242 // second argument is not recognized
jsterling30 7:6ef9b0aab972 243 blue.printf(" Second argument is not recognized (must be square or circle)\n");
jsterling30 7:6ef9b0aab972 244 }
jsterling30 7:6ef9b0aab972 245
jsterling30 7:6ef9b0aab972 246 } else if (strcmp(arg1, "write") == 0) {
jsterling30 7:6ef9b0aab972 247 // first argument is write
jsterling30 7:6ef9b0aab972 248 blue.printf(" First argument is write\n");
jsterling30 7:6ef9b0aab972 249 blue.printf(" Second argument is %s\n", arg2);
jsterling30 7:6ef9b0aab972 250 } else {
jsterling30 7:6ef9b0aab972 251 // first argument is not recognized
jsterling30 7:6ef9b0aab972 252 blue.printf(" First argument is not recognized (must be draw or write)\n");
jsterling30 7:6ef9b0aab972 253 }
jsterling30 7:6ef9b0aab972 254
jsterling30 7:6ef9b0aab972 255 blue.printf("\n");
jsterling30 7:6ef9b0aab972 256 }
jsterling30 8:e90d9ce42b33 257 */
jsterling30 7:6ef9b0aab972 258
jsterling30 7:6ef9b0aab972 259 /*
amohile3 5:7572f73a78f3 260 while(1) {
jsterling30 7:6ef9b0aab972 261 pen.calibrate(0.0005, 180.0);
jsterling30 7:6ef9b0aab972 262 for(float p=0; p<1.0; p += 0.1) {
jsterling30 7:6ef9b0aab972 263 pen.write(p);
jsterling30 7:6ef9b0aab972 264 wait(2);
jsterling30 7:6ef9b0aab972 265 }
amohile3 5:7572f73a78f3 266 }
jsterling30 7:6ef9b0aab972 267 */
jsterling30 7:6ef9b0aab972 268
jsterling30 7:6ef9b0aab972 269 //forward(5.0);
jsterling30 3:c4b0460d8886 270 //forward(5.0);
jsterling30 3:c4b0460d8886 271 //turnLeft(90);
amohile3 5:7572f73a78f3 272 //Should make a triangle
amohile3 5:7572f73a78f3 273 //for (int i = 0; i < 3; i++){
jsterling30 8:e90d9ce42b33 274 // forward(5.0);
jsterling30 8:e90d9ce42b33 275 // turnLeft(120);
jsterling30 8:e90d9ce42b33 276 //}
jsterling30 3:c4b0460d8886 277 //manualcheck();
jsterling30 3:c4b0460d8886 278 //forward(10.0);
amohile3 0:191d0be60c80 279 }